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Dlloydev / QuickPID

A fast PID controller with multiple options. Various Integral anti-windup, Proportional, Derivative and timer control modes.
MIT License
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Question: Breaking changes #17

Closed halmos closed 3 years ago

halmos commented 3 years ago

Hi, The new features look really great.

One question, after updating to the latest release I've found that my pre-existing tuning parameters no longer produce the same output.

To update to the latest class constructor parameters, I set the DOn value to 0. Is that the value you would recommend to emulate the QuickPid behavior prior to the addition of the DOn feature?

Or, do you have any idea about what might be the cause of the altered PID behavior or how I might compensate without having to re-tune my PID values?

Many thanks.

Dlloydev commented 3 years ago

The probable cause would be the addition of integral anti-windup. You could test this by commenting out lines 69-71 in QuickPID.cpp. Otherwise, you may need to increase the Ki value or re-tune.

I have the default POn value at 1, DOn value at 0 which is similar to the default behavior of Arduino PID.

halmos commented 3 years ago

Thanks - that's helpful. It does seem to be the windup.